A statistical fusion for a leg-by-leg bearings-only TMA without observer maneuver

In previous papers, we addressed the problem of bearings-only tracking of targets whose trajectory is composed of several legs from a non-maneuvering observer. We named it bearings-only maneuvering target motion analysis (BOMTMA). We proposed two estimates when the number of legs is equal to two: the classic maximum likelihood estimate (MLE) and an estimate based on a geometric fusion of leg-by-leg tracking. In this paper we introduce an estimate constructed on a statistical fusion whose main advantage, unlike the two previous ones, is that it can be easily extended to the case where the trajectory of the source is composed of three or more legs.